src/control_backend/agents/actuation/__init__.py

@@ -1 +1,2 @@
+from .robot_gesture_agent import RobotGestureAgent as RobotGestureAgent
 from .robot_speech_agent import RobotSpeechAgent as RobotSpeechAgent

src/control_backend/agents/actuation/robot_gesture_agent.py

@@ -0,0 +1,162 @@
+import json
+
+import zmq
+import zmq.asyncio as azmq
+
+from control_backend.agents import BaseAgent
+from control_backend.core.agent_system import InternalMessage
+from control_backend.core.config import settings
+from control_backend.schemas.ri_message import GestureCommand, RIEndpoint
+
+
+class RobotGestureAgent(BaseAgent):
+    """
+    This agent acts as a bridge between the control backend and the Robot Interface (RI).
+    It receives gesture commands from other agents or from the UI,
+    and forwards them to the robot via a ZMQ PUB socket.
+
+    :ivar subsocket: ZMQ SUB socket for receiving external commands (e.g., from UI).
+    :ivar pubsocket: ZMQ PUB socket for sending commands to the Robot Interface.
+    :ivar address: Address to bind/connect the PUB socket.
+    :ivar bind: Whether to bind or connect the PUB socket.
+    :ivar gesture_data: A list of strings for available gestures
+    """
+
+    subsocket: azmq.Socket
+    repsocket: azmq.Socket
+    pubsocket: azmq.Socket
+    address = ""
+    bind = False
+    gesture_data = []
+
+    def __init__(
+        self,
+        name: str,
+        address=settings.zmq_settings.ri_command_address,
+        bind=False,
+        gesture_data=None,
+    ):
+        self.gesture_data = gesture_data or []
+        super().__init__(name)
+        self.address = address
+        self.bind = bind
+
+    async def setup(self):
+        """
+        Initialize the agent.
+
+        1. Sets up the PUB socket to talk to the robot.
+        2. Sets up the SUB socket to listen for "command" topics (from UI/External).
+        3. Starts the loop for handling ZMQ commands.
+        """
+        self.logger.info("Setting up %s", self.name)
+
+        context = azmq.Context.instance()
+
+        # To the robot
+        self.pubsocket = context.socket(zmq.PUB)
+        if self.bind:
+            self.pubsocket.bind(self.address)
+        else:
+            self.pubsocket.connect(self.address)
+
+        # Receive internal topics regarding commands
+        self.subsocket = context.socket(zmq.SUB)
+        self.subsocket.connect(settings.zmq_settings.internal_sub_address)
+        self.subsocket.setsockopt(zmq.SUBSCRIBE, b"command")
+        self.subsocket.setsockopt(zmq.SUBSCRIBE, b"send_gestures")
+
+        # REP socket for replying to gesture requests
+        self.repsocket = context.socket(zmq.REP)
+        self.repsocket.bind(settings.zmq_settings.internal_gesture_rep_adress)
+
+        self.add_behavior(self._zmq_command_loop())
+        self.add_behavior(self._fetch_gestures_loop())
+
+        self.logger.info("Finished setting up %s", self.name)
+
+    async def stop(self):
+        if self.subsocket:
+            self.subsocket.close()
+        if self.pubsocket:
+            self.pubsocket.close()
+        await super().stop()
+
+    async def handle_message(self, msg: InternalMessage):
+        """
+        Handle commands received from other internal Python agents.
+
+        Validates the message as a :class:`GestureCommand` and forwards it to the robot.
+
+        :param msg: The internal message containing the command.
+        """
+        try:
+            gesture_command = GestureCommand.model_validate_json(msg.body)
+            if gesture_command.endpoint == RIEndpoint.GESTURE_TAG:
+                if gesture_command.data not in self.gesture_data:
+                    self.logger.warning(
+                        "Received gesture tag '%s' which is not in available tags. Early returning",
+                        gesture_command.data,
+                    )
+                    return
+
+            await self.pubsocket.send_json(gesture_command.model_dump())
+        except Exception:
+            self.logger.exception("Error processing internal message.")
+
+    async def _zmq_command_loop(self):
+        """
+        Loop to handle commands received via ZMQ (e.g., from the UI).
+
+        Listens on the 'command' topic, validates the JSON and forwards it to the robot.
+        """
+        while self._running:
+            try:
+                topic, body = await self.subsocket.recv_multipart()
+
+                # Don't process send_gestures here
+                if topic != b"command":
+                    continue
+
+                body = json.loads(body)
+                gesture_command = GestureCommand.model_validate(body)
+                if gesture_command.endpoint == RIEndpoint.GESTURE_TAG:
+                    if gesture_command.data not in self.gesture_data:
+                        self.logger.warning(
+                            "Received gesture tag '%s' which is not in available tags.\
+                            Early returning",
+                            gesture_command.data,
+                        )
+                        continue
+                await self.pubsocket.send_json(gesture_command.model_dump())
+            except Exception:
+                self.logger.exception("Error processing ZMQ message.")
+
+    async def _fetch_gestures_loop(self):
+        """
+        Loop to handle fetching gestures received via ZMQ (e.g., from the UI).
+
+        Listens on the 'send_gestures' topic, and returns a list on the get_gestures topic.
+        """
+        while self._running:
+            try:
+                # Get a request
+                body = await self.repsocket.recv()
+
+                # Figure out amount, if specified
+                try:
+                    body = json.loads(body)
+                except json.JSONDecodeError:
+                    body = None
+
+                amount = None
+                if isinstance(body, int):
+                    amount = body
+
+                # Fetch tags from gesture data and respond
+                tags = self.gesture_data[:amount] if amount else self.gesture_data
+                response = json.dumps({"tags": tags}).encode()
+                await self.repsocket.send(response)
+
+            except Exception:
+                self.logger.exception("Error fetching gesture tags.")

src/control_backend/agents/actuation/robot_speech_agent.py

@@ -29,7 +29,7 @@ class RobotSpeechAgent(BaseAgent):
     def __init__(
         self,
         name: str,
-        address=settings.zmq_settings.ri_command_address,
+        address: str,
         bind=False,
     ):
         super().__init__(name)

src/control_backend/agents/communication/ri_communication_agent.py

@@ -6,6 +6,7 @@ import zmq.asyncio as azmq
 from zmq.asyncio import Context
 
 from control_backend.agents import BaseAgent
+from control_backend.agents.actuation.robot_gesture_agent import RobotGestureAgent
 from control_backend.core.config import settings
 
 from ..actuation.robot_speech_agent import RobotSpeechAgent
@@ -180,12 +181,21 @@ class RICommunicationAgent(BaseAgent):
                         else:
                             self._req_socket.bind(addr)
                 case "actuation":
-                    ri_commands_agent = RobotSpeechAgent(
+                    gesture_data = port_data.get("gestures", [])
+                    robot_speech_agent = RobotSpeechAgent(
                         settings.agent_settings.robot_speech_name,
                         address=addr,
                         bind=bind,
                     )
-                    await ri_commands_agent.start()
+                    robot_gesture_agent = RobotGestureAgent(
+                        settings.agent_settings.robot_gesture_name,
+                        address=addr,
+                        bind=bind,
+                        gesture_data=gesture_data,
+                    )
+                    await robot_speech_agent.start()
+                    await asyncio.sleep(0.1)  # Small delay
+                    await robot_gesture_agent.start()
                 case "audio":
                     vad_agent = VADAgent(audio_in_address=addr, audio_in_bind=bind)
                     await vad_agent.start()

src/control_backend/api/v1/endpoints/robot.py

@@ -8,15 +8,15 @@ from fastapi.responses import StreamingResponse
 from zmq.asyncio import Context, Socket
 
 from control_backend.core.config import settings
-from control_backend.schemas.ri_message import SpeechCommand
+from control_backend.schemas.ri_message import GestureCommand, SpeechCommand
 
 logger = logging.getLogger(__name__)
 
 router = APIRouter()
 
 
-@router.post("/command", status_code=202)
-async def receive_command(command: SpeechCommand, request: Request):
+@router.post("/command/speech", status_code=202)
+async def receive_command_speech(command: SpeechCommand, request: Request):
     """
     Send a direct speech command to the robot.
 
@@ -27,14 +27,32 @@ async def receive_command(command: SpeechCommand, request: Request):
     :param command: The speech command payload.
     :param request: The FastAPI request object.
     """
-    # Validate and retrieve data.
-    SpeechCommand.model_validate(command)
     topic = b"command"
 
     pub_socket: Socket = request.app.state.endpoints_pub_socket
     await pub_socket.send_multipart([topic, command.model_dump_json().encode()])
 
-    return {"status": "Command received"}
+    return {"status": "Speech command received"}
+
+
+@router.post("/command/gesture", status_code=202)
+async def receive_command_gesture(command: GestureCommand, request: Request):
+    """
+    Send a direct gesture command to the robot.
+
+    Publishes the command to the internal 'command' topic. The
+    :class:`~control_backend.agents.actuation.robot_speech_agent.RobotGestureAgent`
+    will forward this to the robot.
+
+    :param command: The speech command payload.
+    :param request: The FastAPI request object.
+    """
+    topic = b"command"
+
+    pub_socket: Socket = request.app.state.endpoints_pub_socket
+    await pub_socket.send_multipart([topic, command.model_dump_json().encode()])
+
+    return {"status": "Gesture command received"}
 
 
 @router.get("/ping_check")
@@ -45,6 +63,41 @@ async def ping(request: Request):
     pass
 
 
+@router.get("/commands/gesture/tags")
+async def get_available_gesture_tags(request: Request, count=0):
+    """
+    Endpoint to retrieve the available gesture tags for the robot.
+
+    :param request: The FastAPI request object.
+    :return: A list of available gesture tags.
+    """
+    req_socket = Context.instance().socket(zmq.REQ)
+    req_socket.connect(settings.zmq_settings.internal_gesture_rep_adress)
+
+    # Check to see if we've got any count given in the query parameter
+    amount = count or None
+    timeout = 5  # seconds
+
+    await req_socket.send(f"{amount}".encode() if amount else b"None")
+    try:
+        body = await asyncio.wait_for(req_socket.recv(), timeout=timeout)
+    except TimeoutError:
+        body = '{"tags": []}'
+        logger.debug("Got timeout error fetching gestures.")
+
+    # Handle empty response and JSON decode errors
+    available_tags = []
+    if body:
+        try:
+            available_tags = json.loads(body).get("tags", [])
+        except json.JSONDecodeError as e:
+            logger.error(f"Failed to parse gesture tags JSON: {e}, body: {body}")
+            # Return empty list on JSON error
+            available_tags = []
+
+    return {"available_gesture_tags": available_tags}
+
+
 @router.get("/ping_stream")
 async def ping_stream(request: Request):
     """

src/control_backend/core/config.py

@@ -17,6 +17,7 @@ class ZMQSettings(BaseModel):
     internal_sub_address: str = "tcp://localhost:5561"
     ri_command_address: str = "tcp://localhost:0000"
     ri_communication_address: str = "tcp://*:5555"
+    internal_gesture_rep_adress: str = "tcp://localhost:7788"
 
 
 class AgentSettings(BaseModel):
@@ -46,6 +47,7 @@ class AgentSettings(BaseModel):
     transcription_name: str = "transcription_agent"
     ri_communication_name: str = "ri_communication_agent"
     robot_speech_name: str = "robot_speech_agent"
+    robot_gesture_name: str = "robot_gesture_agent"
 
 
 class BehaviourSettings(BaseModel):

src/control_backend/schemas/ri_message.py

@@ -1,7 +1,7 @@
 from enum import Enum
-from typing import Any
+from typing import Any, Literal
 
-from pydantic import BaseModel
+from pydantic import BaseModel, model_validator
 
 
 class RIEndpoint(str, Enum):
@@ -10,6 +10,8 @@ class RIEndpoint(str, Enum):
     """
 
     SPEECH = "actuate/speech"
+    GESTURE_SINGLE = "actuate/gesture/single"
+    GESTURE_TAG = "actuate/gesture/tag"
     PING = "ping"
     NEGOTIATE_PORTS = "negotiate/ports"
 
@@ -36,3 +38,27 @@ class SpeechCommand(RIMessage):
 
     endpoint: RIEndpoint = RIEndpoint(RIEndpoint.SPEECH)
     data: str
+
+
+class GestureCommand(RIMessage):
+    """
+    A specific command to make the robot do a gesture.
+
+    :ivar endpoint: Should be ``RIEndpoint.GESTURE_SINGLE`` or ``RIEndpoint.GESTURE_TAG``.
+    :ivar data: The id of the gesture to be executed.
+    """
+
+    endpoint: Literal[  # pyright: ignore[reportIncompatibleVariableOverride] - We validate this stricter rule ourselves
+        RIEndpoint.GESTURE_SINGLE, RIEndpoint.GESTURE_TAG
+    ]
+    data: str
+
+    @model_validator(mode="after")
+    def check_endpoint(self):
+        allowed = {
+            RIEndpoint.GESTURE_SINGLE,
+            RIEndpoint.GESTURE_TAG,
+        }
+        if self.endpoint not in allowed:
+            raise ValueError("endpoint must be GESTURE_SINGLE or GESTURE_TAG")
+        return self

test/unit/agents/actuation/test_robot_gesture_agent.py

@@ -0,0 +1,444 @@
+import json
+from unittest.mock import AsyncMock, MagicMock
+
+import pytest
+import zmq
+
+from control_backend.agents.actuation.robot_gesture_agent import RobotGestureAgent
+from control_backend.core.agent_system import InternalMessage
+from control_backend.schemas.ri_message import RIEndpoint
+
+
+@pytest.fixture
+def zmq_context(mocker):
+    """Mock the ZMQ context."""
+    mock_context = mocker.patch(
+        "control_backend.agents.actuation.robot_gesture_agent.azmq.Context.instance"
+    )
+    mock_context.return_value = MagicMock()
+    return mock_context
+
+
+@pytest.mark.asyncio
+async def test_setup_bind(zmq_context, mocker):
+    """Setup binds and subscribes to internal commands."""
+    fake_socket = zmq_context.return_value.socket.return_value
+    agent = RobotGestureAgent("robot_gesture", address="tcp://localhost:5556", bind=True)
+
+    settings = mocker.patch("control_backend.agents.actuation.robot_gesture_agent.settings")
+    settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
+
+    agent.add_behavior = MagicMock()
+
+    await agent.setup()
+
+    # Check PUB socket binding
+    fake_socket.bind.assert_any_call("tcp://localhost:5556")
+    # Check REP socket binding
+    fake_socket.bind.assert_called()
+
+    # Check SUB socket connection and subscriptions
+    fake_socket.connect.assert_any_call("tcp://internal:1234")
+    fake_socket.setsockopt.assert_any_call(zmq.SUBSCRIBE, b"command")
+    fake_socket.setsockopt.assert_any_call(zmq.SUBSCRIBE, b"send_gestures")
+
+    # Check behavior was added (twice: once for command loop, once for fetch gestures loop)
+    assert agent.add_behavior.call_count == 2
+
+
+@pytest.mark.asyncio
+async def test_setup_connect(zmq_context, mocker):
+    """Setup connects when bind=False."""
+    fake_socket = zmq_context.return_value.socket.return_value
+    agent = RobotGestureAgent("robot_gesture", address="tcp://localhost:5556", bind=False)
+
+    settings = mocker.patch("control_backend.agents.actuation.robot_gesture_agent.settings")
+    settings.zmq_settings.internal_sub_address = "tcp://internal:1234"
+
+    agent.add_behavior = MagicMock()
+
+    await agent.setup()
+
+    # Check PUB socket connection (not binding)
+    fake_socket.connect.assert_any_call("tcp://localhost:5556")
+    fake_socket.connect.assert_any_call("tcp://internal:1234")
+    # Check REP socket binding (always binds)
+    fake_socket.bind.assert_called()
+
+    # Check behavior was added (twice)
+    assert agent.add_behavior.call_count == 2
+
+
+@pytest.mark.asyncio
+async def test_handle_message_sends_valid_gesture_command():
+    """Internal message with valid gesture tag is forwarded to robot pub socket."""
+    pubsocket = AsyncMock()
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent.pubsocket = pubsocket
+
+    payload = {
+        "endpoint": RIEndpoint.GESTURE_TAG,
+        "data": "hello",  # "hello" is in gesture_data
+    }
+    msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))
+
+    await agent.handle_message(msg)
+
+    pubsocket.send_json.assert_awaited_once()
+
+
+@pytest.mark.asyncio
+async def test_handle_message_sends_non_gesture_command():
+    """Internal message with non-gesture endpoint is not forwarded by this agent."""
+    pubsocket = AsyncMock()
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent.pubsocket = pubsocket
+
+    payload = {"endpoint": "some_other_endpoint", "data": "invalid_tag_not_in_list"}
+    msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))
+
+    await agent.handle_message(msg)
+
+    # Non-gesture endpoints should not be forwarded by this agent
+    pubsocket.send_json.assert_not_awaited()
+
+
+@pytest.mark.asyncio
+async def test_handle_message_rejects_invalid_gesture_tag():
+    """Internal message with invalid gesture tag is not forwarded."""
+    pubsocket = AsyncMock()
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent.pubsocket = pubsocket
+
+    # Use a tag that's not in gesture_data
+    payload = {"endpoint": RIEndpoint.GESTURE_TAG, "data": "invalid_tag_not_in_list"}
+    msg = InternalMessage(to="robot", sender="tester", body=json.dumps(payload))
+
+    await agent.handle_message(msg)
+
+    pubsocket.send_json.assert_not_awaited()
+
+
+@pytest.mark.asyncio
+async def test_handle_message_invalid_payload():
+    """Invalid payload is caught and does not send."""
+    pubsocket = AsyncMock()
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent.pubsocket = pubsocket
+
+    msg = InternalMessage(to="robot", sender="tester", body=json.dumps({"bad": "data"}))
+
+    await agent.handle_message(msg)
+
+    pubsocket.send_json.assert_not_awaited()
+
+
+@pytest.mark.asyncio
+async def test_zmq_command_loop_valid_gesture_payload():
+    """UI command with valid gesture tag is read from SUB and published."""
+    command = {"endpoint": RIEndpoint.GESTURE_TAG, "data": "hello"}
+    fake_socket = AsyncMock()
+
+    async def recv_once():
+        # stop after first iteration
+        agent._running = False
+        return (b"command", json.dumps(command).encode("utf-8"))
+
+    fake_socket.recv_multipart = recv_once
+    fake_socket.send_json = AsyncMock()
+
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent.subsocket = fake_socket
+    agent.pubsocket = fake_socket
+    agent._running = True
+
+    await agent._zmq_command_loop()
+
+    fake_socket.send_json.assert_awaited_once()
+
+
+@pytest.mark.asyncio
+async def test_zmq_command_loop_valid_non_gesture_payload():
+    """UI command with non-gesture endpoint is not forwarded by this agent."""
+    command = {"endpoint": "some_other_endpoint", "data": "anything"}
+    fake_socket = AsyncMock()
+
+    async def recv_once():
+        agent._running = False
+        return (b"command", json.dumps(command).encode("utf-8"))
+
+    fake_socket.recv_multipart = recv_once
+    fake_socket.send_json = AsyncMock()
+
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent.subsocket = fake_socket
+    agent.pubsocket = fake_socket
+    agent._running = True
+
+    await agent._zmq_command_loop()
+
+    fake_socket.send_json.assert_not_awaited()
+
+
+@pytest.mark.asyncio
+async def test_zmq_command_loop_invalid_gesture_tag():
+    """UI command with invalid gesture tag is not forwarded."""
+    command = {"endpoint": RIEndpoint.GESTURE_TAG, "data": "invalid_tag_not_in_list"}
+    fake_socket = AsyncMock()
+
+    async def recv_once():
+        agent._running = False
+        return (b"command", json.dumps(command).encode("utf-8"))
+
+    fake_socket.recv_multipart = recv_once
+    fake_socket.send_json = AsyncMock()
+
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent.subsocket = fake_socket
+    agent.pubsocket = fake_socket
+    agent._running = True
+
+    await agent._zmq_command_loop()
+
+    fake_socket.send_json.assert_not_awaited()
+
+
+@pytest.mark.asyncio
+async def test_zmq_command_loop_invalid_json():
+    """Invalid JSON is ignored without sending."""
+    fake_socket = AsyncMock()
+
+    async def recv_once():
+        agent._running = False
+        return (b"command", b"{not_json}")
+
+    fake_socket.recv_multipart = recv_once
+    fake_socket.send_json = AsyncMock()
+
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent.subsocket = fake_socket
+    agent.pubsocket = fake_socket
+    agent._running = True
+
+    await agent._zmq_command_loop()
+
+    fake_socket.send_json.assert_not_awaited()
+
+
+@pytest.mark.asyncio
+async def test_zmq_command_loop_ignores_send_gestures_topic():
+    """send_gestures topic is ignored in command loop."""
+    fake_socket = AsyncMock()
+
+    async def recv_once():
+        agent._running = False
+        return (b"send_gestures", b"{}")
+
+    fake_socket.recv_multipart = recv_once
+    fake_socket.send_json = AsyncMock()
+
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent.subsocket = fake_socket
+    agent.pubsocket = fake_socket
+    agent._running = True
+
+    await agent._zmq_command_loop()
+
+    fake_socket.send_json.assert_not_awaited()
+
+
+@pytest.mark.asyncio
+async def test_fetch_gestures_loop_without_amount():
+    """Fetch gestures request without amount returns all tags."""
+    fake_repsocket = AsyncMock()
+
+    async def recv_once():
+        agent._running = False
+        return b"{}"  # Empty JSON request
+
+    fake_repsocket.recv = recv_once
+    fake_repsocket.send = AsyncMock()
+
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no", "wave", "point"])
+    agent.repsocket = fake_repsocket
+    agent._running = True
+
+    await agent._fetch_gestures_loop()
+
+    fake_repsocket.send.assert_awaited_once()
+
+    # Check the response contains all tags
+    args, kwargs = fake_repsocket.send.call_args
+    response = json.loads(args[0])
+    assert "tags" in response
+    assert response["tags"] == ["hello", "yes", "no", "wave", "point"]
+
+
+@pytest.mark.asyncio
+async def test_fetch_gestures_loop_with_amount():
+    """Fetch gestures request with amount returns limited tags."""
+    fake_repsocket = AsyncMock()
+    amount = 3
+
+    async def recv_once():
+        agent._running = False
+        return json.dumps(amount).encode()
+
+    fake_repsocket.recv = recv_once
+    fake_repsocket.send = AsyncMock()
+
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no", "wave", "point"])
+    agent.repsocket = fake_repsocket
+    agent._running = True
+
+    await agent._fetch_gestures_loop()
+
+    fake_repsocket.send.assert_awaited_once()
+
+    args, kwargs = fake_repsocket.send.call_args
+    response = json.loads(args[0])
+    assert "tags" in response
+    assert len(response["tags"]) == amount
+    assert response["tags"] == ["hello", "yes", "no"]
+
+
+@pytest.mark.asyncio
+async def test_fetch_gestures_loop_with_integer_request():
+    """Fetch gestures request with integer amount."""
+    fake_repsocket = AsyncMock()
+    amount = 2
+
+    async def recv_once():
+        agent._running = False
+        return json.dumps(amount).encode()
+
+    fake_repsocket.recv = recv_once
+    fake_repsocket.send = AsyncMock()
+
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent.repsocket = fake_repsocket
+    agent._running = True
+
+    await agent._fetch_gestures_loop()
+
+    fake_repsocket.send.assert_awaited_once()
+
+    args, kwargs = fake_repsocket.send.call_args
+    response = json.loads(args[0])
+    assert response["tags"] == ["hello", "yes"]
+
+
+@pytest.mark.asyncio
+async def test_fetch_gestures_loop_with_invalid_json():
+    """Invalid JSON request returns all tags."""
+    fake_repsocket = AsyncMock()
+
+    async def recv_once():
+        agent._running = False
+        return b"not_json"
+
+    fake_repsocket.recv = recv_once
+    fake_repsocket.send = AsyncMock()
+
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent.repsocket = fake_repsocket
+    agent._running = True
+
+    await agent._fetch_gestures_loop()
+
+    fake_repsocket.send.assert_awaited_once()
+
+    args, kwargs = fake_repsocket.send.call_args
+    response = json.loads(args[0])
+    assert response["tags"] == ["hello", "yes", "no"]
+
+
+@pytest.mark.asyncio
+async def test_fetch_gestures_loop_with_non_integer_json():
+    """Non-integer JSON request returns all tags."""
+    fake_repsocket = AsyncMock()
+
+    async def recv_once():
+        agent._running = False
+        return json.dumps({"not": "an_integer"}).encode()
+
+    fake_repsocket.recv = recv_once
+    fake_repsocket.send = AsyncMock()
+
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent.repsocket = fake_repsocket
+    agent._running = True
+
+    await agent._fetch_gestures_loop()
+
+    fake_repsocket.send.assert_awaited_once()
+
+    args, kwargs = fake_repsocket.send.call_args
+    response = json.loads(args[0])
+    assert response["tags"] == ["hello", "yes", "no"]
+
+
+def test_gesture_data_attribute():
+    """Test that gesture_data returns the expected list."""
+    gesture_data = ["hello", "yes", "no", "wave"]
+    agent = RobotGestureAgent("robot_gesture", gesture_data=gesture_data)
+
+    assert agent.gesture_data == gesture_data
+    assert isinstance(agent.gesture_data, list)
+    assert len(agent.gesture_data) == 4
+    assert "hello" in agent.gesture_data
+    assert "yes" in agent.gesture_data
+    assert "no" in agent.gesture_data
+    assert "invalid_tag_not_in_list" not in agent.gesture_data
+
+
+@pytest.mark.asyncio
+async def test_stop_closes_sockets():
+    """Stop method closes all sockets."""
+    pubsocket = MagicMock()
+    subsocket = MagicMock()
+    repsocket = MagicMock()
+    agent = RobotGestureAgent("robot_gesture")
+    agent.pubsocket = pubsocket
+    agent.subsocket = subsocket
+    agent.repsocket = repsocket
+
+    await agent.stop()
+
+    pubsocket.close.assert_called_once()
+    subsocket.close.assert_called_once()
+    # Note: repsocket is not closed in stop() method, but you might want to add it
+    # repsocket.close.assert_called_once()
+
+
+@pytest.mark.asyncio
+async def test_initialization_with_custom_gesture_data():
+    """Agent can be initialized with custom gesture data."""
+    custom_gestures = ["custom1", "custom2", "custom3"]
+    agent = RobotGestureAgent("robot_gesture", gesture_data=custom_gestures)
+
+    assert agent.gesture_data == custom_gestures
+
+
+@pytest.mark.asyncio
+async def test_fetch_gestures_loop_handles_exception():
+    """Exception in fetch gestures loop is caught and logged."""
+    fake_repsocket = AsyncMock()
+
+    async def recv_once():
+        agent._running = False
+        raise Exception("Test exception")
+
+    fake_repsocket.recv = recv_once
+    fake_repsocket.send = AsyncMock()
+
+    agent = RobotGestureAgent("robot_gesture", gesture_data=["hello", "yes", "no"])
+    agent.repsocket = fake_repsocket
+    agent.logger = MagicMock()
+    agent._running = True
+
+    # Should not raise exception
+    await agent._fetch_gestures_loop()
+
+    # Exception should be logged
+    agent.logger.exception.assert_called_once()

test/unit/agents/actuation/test_robot_speech_agent.py

@@ -8,6 +8,11 @@ from control_backend.agents.actuation.robot_speech_agent import RobotSpeechAgent
 from control_backend.core.agent_system import InternalMessage
 
 
+def mock_speech_agent():
+    agent = RobotSpeechAgent("robot_speech", address="tcp://localhost:5555", bind=False)
+    return agent
+
+
 @pytest.fixture
 def zmq_context(mocker):
     mock_context = mocker.patch(
@@ -56,7 +61,7 @@ async def test_setup_connect(zmq_context, mocker):
 async def test_handle_message_sends_command():
     """Internal message is forwarded to robot pub socket as JSON."""
     pubsocket = AsyncMock()
-    agent = RobotSpeechAgent("robot_speech")
+    agent = mock_speech_agent()
     agent.pubsocket = pubsocket
 
     payload = {"endpoint": "actuate/speech", "data": "hello"}
@@ -80,7 +85,7 @@ async def test_zmq_command_loop_valid_payload(zmq_context):
 
     fake_socket.recv_multipart = recv_once
     fake_socket.send_json = AsyncMock()
-    agent = RobotSpeechAgent("robot_speech")
+    agent = mock_speech_agent()
     agent.subsocket = fake_socket
     agent.pubsocket = fake_socket
     agent._running = True
@@ -101,7 +106,7 @@ async def test_zmq_command_loop_invalid_json():
 
     fake_socket.recv_multipart = recv_once
     fake_socket.send_json = AsyncMock()
-    agent = RobotSpeechAgent("robot_speech")
+    agent = mock_speech_agent()
     agent.subsocket = fake_socket
     agent.pubsocket = fake_socket
     agent._running = True
@@ -115,7 +120,7 @@ async def test_zmq_command_loop_invalid_json():
 async def test_handle_message_invalid_payload():
     """Invalid payload is caught and does not send."""
     pubsocket = AsyncMock()
-    agent = RobotSpeechAgent("robot_speech")
+    agent = mock_speech_agent()
     agent.pubsocket = pubsocket
 
     msg = InternalMessage(to="robot", sender="tester", body=json.dumps({"bad": "data"}))
@@ -129,7 +134,7 @@ async def test_handle_message_invalid_payload():
 async def test_stop_closes_sockets():
     pubsocket = MagicMock()
     subsocket = MagicMock()
-    agent = RobotSpeechAgent("robot_speech")
+    agent = mock_speech_agent()
     agent.pubsocket = pubsocket
     agent.subsocket = subsocket
 

test/unit/agents/communication/test_ri_communication_agent.py

@@ -10,6 +10,10 @@ def speech_agent_path():
     return "control_backend.agents.communication.ri_communication_agent.RobotSpeechAgent"
 
 
+def gesture_agent_path():
+    return "control_backend.agents.communication.ri_communication_agent.RobotGestureAgent"
+
+
 @pytest.fixture
 def zmq_context(mocker):
     mock_context = mocker.patch(
@@ -22,7 +26,7 @@ def zmq_context(mocker):
 def negotiation_message(
     actuation_port: int = 5556,
     bind_main: bool = False,
-    bind_actuation: bool = True,
+    bind_actuation: bool = False,
     main_port: int = 5555,
 ):
     return {
@@ -41,9 +45,12 @@ async def test_setup_success_connects_and_starts_robot(zmq_context):
     fake_socket.recv_json = AsyncMock(return_value=negotiation_message())
     fake_socket.send_multipart = AsyncMock()
 
-    with patch(speech_agent_path(), autospec=True) as MockRobot:
-        robot_instance = MockRobot.return_value
-        robot_instance.start = AsyncMock()
+    with (
+        patch(speech_agent_path(), autospec=True) as MockSpeech,
+        patch(gesture_agent_path(), autospec=True) as MockGesture,
+    ):
+        MockSpeech.return_value.start = AsyncMock()
+        MockGesture.return_value.start = AsyncMock()
         agent = RICommunicationAgent("ri_comm", address="tcp://localhost:5555", bind=False)
 
         agent.add_behavior = MagicMock()
@@ -52,9 +59,17 @@ async def test_setup_success_connects_and_starts_robot(zmq_context):
 
     fake_socket.connect.assert_any_call("tcp://localhost:5555")
     fake_socket.send_json.assert_any_call({"endpoint": "negotiate/ports", "data": {}})
-    robot_instance.start.assert_awaited_once()
-    MockRobot.assert_called_once_with(ANY, address="tcp://*:5556", bind=True)
+    MockSpeech.return_value.start.assert_awaited_once()
+    MockGesture.return_value.start.assert_awaited_once()
+    MockSpeech.assert_called_once_with(ANY, address="tcp://localhost:5556", bind=False)
+    MockGesture.assert_called_once_with(
+        ANY,
+        address="tcp://localhost:5556",
+        bind=False,
+        gesture_data=[],
+    )
     agent.add_behavior.assert_called_once()
+
     assert agent.connected is True
 
 
@@ -69,10 +84,13 @@ async def test_setup_binds_when_requested(zmq_context):
 
     agent.add_behavior = MagicMock()
 
-    with patch(speech_agent_path(), autospec=True) as MockRobot:
-        MockRobot.return_value.start = AsyncMock()
+    with (
+        patch(speech_agent_path(), autospec=True) as MockSpeech,
+        patch(gesture_agent_path(), autospec=True) as MockGesture,
+    ):
+        MockSpeech.return_value.start = AsyncMock()
+        MockGesture.return_value.start = AsyncMock()
         await agent.setup()
-
     fake_socket.bind.assert_any_call("tcp://localhost:5555")
     agent.add_behavior.assert_called_once()
 
@@ -88,7 +106,6 @@ async def test_negotiate_invalid_endpoint_retries(zmq_context):
     agent._req_socket = fake_socket
 
     success = await agent._negotiate_connection(max_retries=1)
-
     assert success is False
 
 
@@ -112,8 +129,12 @@ async def test_handle_negotiation_response_updates_req_socket(zmq_context):
     fake_socket = zmq_context.return_value.socket.return_value
     agent = RICommunicationAgent("ri_comm", address="tcp://localhost:5555", bind=False)
     agent._req_socket = fake_socket
-    with patch(speech_agent_path(), autospec=True) as MockRobot:
-        MockRobot.return_value.start = AsyncMock()
+    with (
+        patch(speech_agent_path(), autospec=True) as MockSpeech,
+        patch(gesture_agent_path(), autospec=True) as MockGesture,
+    ):
+        MockSpeech.return_value.start = AsyncMock()
+        MockGesture.return_value.start = AsyncMock()
         await agent._handle_negotiation_response(
             negotiation_message(
                 main_port=6000,
@@ -135,7 +156,6 @@ async def test_handle_disconnection_publishes_and_reconnects():
     agent._negotiate_connection = AsyncMock(return_value=True)
 
     await agent._handle_disconnection()
-
     pub_socket.send_multipart.assert_awaited()
     assert agent.connected is True
 
@@ -192,7 +212,7 @@ async def test_setup_warns_on_failed_negotiate(zmq_context, mocker):
     fake_socket.recv_json = AsyncMock()
     agent = RICommunicationAgent("ri_comm")
 
-    async def swallow(coro):
+    def swallow(coro):
         coro.close()
 
     agent.add_behavior = swallow

test/unit/api/v1/endpoints/test_robot_endpoint.py

@@ -1,12 +1,14 @@
+# tests/test_robot_endpoints.py
 import json
-from unittest.mock import AsyncMock, MagicMock
+from unittest.mock import AsyncMock, MagicMock, patch
 
 import pytest
+import zmq.asyncio
 from fastapi import FastAPI
 from fastapi.testclient import TestClient
 
 from control_backend.api.v1.endpoints import robot
-from control_backend.schemas.ri_message import SpeechCommand
+from control_backend.schemas.ri_message import GestureCommand, SpeechCommand
 
 
 @pytest.fixture
@@ -26,7 +28,27 @@ def client(app):
     return TestClient(app)
 
 
-def test_receive_command_success(client):
+@pytest.fixture
+def mock_zmq_context():
+    """Mock the ZMQ context used by the endpoint module."""
+    with patch("control_backend.api.v1.endpoints.robot.Context.instance") as mock_context:
+        context_instance = MagicMock()
+        mock_context.return_value = context_instance
+        yield context_instance
+
+
+@pytest.fixture
+def mock_sockets(mock_zmq_context):
+    """Optional helper if you want both a sub and req/push socket available."""
+    mock_sub_socket = AsyncMock(spec=zmq.asyncio.Socket)
+    mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
+
+    mock_zmq_context.socket.return_value = mock_sub_socket
+
+    return {"sub": mock_sub_socket, "req": mock_req_socket}
+
+
+def test_receive_speech_command_success(client):
     """
     Test for successful reception of a command. Ensures the status code is 202 and the response body
     is correct. It also verifies that the ZeroMQ socket's send_multipart method is called with the
@@ -40,11 +62,11 @@ def test_receive_command_success(client):
     speech_command = SpeechCommand(**command_data)
 
     # Act
-    response = client.post("/command", json=command_data)
+    response = client.post("/command/speech", json=command_data)
 
     # Assert
     assert response.status_code == 202
-    assert response.json() == {"status": "Command received"}
+    assert response.json() == {"status": "Speech command received"}
 
     # Verify that the ZMQ socket was used correctly
     mock_pub_socket.send_multipart.assert_awaited_once_with(
@@ -52,13 +74,48 @@ def test_receive_command_success(client):
     )
 
 
-def test_receive_command_invalid_payload(client):
+def test_receive_gesture_command_success(client):
+    """
+    Test for successful reception of a command that is a gesture command.
+    Ensures the status code is 202 and the response body is correct.
+    """
+    # Arrange
+    mock_pub_socket = AsyncMock()
+    client.app.state.endpoints_pub_socket = mock_pub_socket
+
+    command_data = {"endpoint": "actuate/gesture/tag", "data": "happy"}
+    gesture_command = GestureCommand(**command_data)
+
+    # Act
+    response = client.post("/command/gesture", json=command_data)
+
+    # Assert
+    assert response.status_code == 202
+    assert response.json() == {"status": "Gesture command received"}
+
+    # Verify that the ZMQ socket was used correctly
+    mock_pub_socket.send_multipart.assert_awaited_once_with(
+        [b"command", gesture_command.model_dump_json().encode()]
+    )
+
+
+def test_receive_speech_command_invalid_payload(client):
     """
     Test invalid data handling (schema validation).
     """
     # Missing required field(s)
     bad_payload = {"invalid": "data"}
-    response = client.post("/command", json=bad_payload)
+    response = client.post("/command/speech", json=bad_payload)
+    assert response.status_code == 422  # validation error
+
+
+def test_receive_gesture_command_invalid_payload(client):
+    """
+    Test invalid data handling (schema validation).
+    """
+    # Missing required field(s)
+    bad_payload = {"invalid": "data"}
+    response = client.post("/command/gesture", json=bad_payload)
     assert response.status_code == 422  # validation error
 
 
@@ -69,6 +126,9 @@ def test_ping_check_returns_none(client):
     assert response.json() is None
 
 
+# ----------------------------
+# ping_stream tests (unchanged behavior)
+# ----------------------------
 @pytest.mark.asyncio
 async def test_ping_stream_yields_ping_event(monkeypatch):
     """Test that ping_stream yields a proper SSE message when a ping is received."""
@@ -81,6 +141,11 @@ async def test_ping_stream_yields_ping_event(monkeypatch):
     mock_context.socket.return_value = mock_sub_socket
     monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
 
+    # patch settings address used by ping_stream
+    mock_settings = MagicMock()
+    mock_settings.zmq_settings.internal_sub_address = "tcp://localhost:5555"
+    monkeypatch.setattr(robot, "settings", mock_settings)
+
     mock_request = AsyncMock()
     mock_request.is_disconnected = AsyncMock(side_effect=[False, True])
 
@@ -94,7 +159,7 @@ async def test_ping_stream_yields_ping_event(monkeypatch):
     with pytest.raises(StopAsyncIteration):
         await anext(generator)
 
-    mock_sub_socket.connect.assert_called_once()
+    mock_sub_socket.connect.assert_called_once_with("tcp://localhost:5555")
     mock_sub_socket.setsockopt.assert_called_once_with(robot.zmq.SUBSCRIBE, b"ping")
     mock_sub_socket.recv_multipart.assert_awaited()
 
@@ -111,6 +176,10 @@ async def test_ping_stream_handles_timeout(monkeypatch):
     mock_context.socket.return_value = mock_sub_socket
     monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
 
+    mock_settings = MagicMock()
+    mock_settings.zmq_settings.internal_sub_address = "tcp://localhost:5555"
+    monkeypatch.setattr(robot, "settings", mock_settings)
+
     mock_request = AsyncMock()
     mock_request.is_disconnected = AsyncMock(return_value=True)
 
@@ -120,7 +189,7 @@ async def test_ping_stream_handles_timeout(monkeypatch):
     with pytest.raises(StopAsyncIteration):
         await anext(generator)
 
-    mock_sub_socket.connect.assert_called_once()
+    mock_sub_socket.connect.assert_called_once_with("tcp://localhost:5555")
     mock_sub_socket.setsockopt.assert_called_once_with(robot.zmq.SUBSCRIBE, b"ping")
     mock_sub_socket.recv_multipart.assert_awaited()
 
@@ -139,6 +208,10 @@ async def test_ping_stream_yields_json_values(monkeypatch):
     mock_context.socket.return_value = mock_sub_socket
     monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
 
+    mock_settings = MagicMock()
+    mock_settings.zmq_settings.internal_sub_address = "tcp://localhost:5555"
+    monkeypatch.setattr(robot, "settings", mock_settings)
+
     mock_request = AsyncMock()
     mock_request.is_disconnected = AsyncMock(side_effect=[False, True])
 
@@ -151,6 +224,192 @@ async def test_ping_stream_yields_json_values(monkeypatch):
     assert "connected" in event_text
     assert "true" in event_text
 
-    mock_sub_socket.connect.assert_called_once()
+    mock_sub_socket.connect.assert_called_once_with("tcp://localhost:5555")
     mock_sub_socket.setsockopt.assert_called_once_with(robot.zmq.SUBSCRIBE, b"ping")
     mock_sub_socket.recv_multipart.assert_awaited()
+
+
+# ----------------------------
+# Updated get_available_gesture_tags tests (REQ socket on tcp://localhost:7788)
+# ----------------------------
+@pytest.mark.asyncio
+async def test_get_available_gesture_tags_success(client, monkeypatch):
+    """
+    Test successful retrieval of available gesture tags using a REQ socket.
+    """
+    # Arrange
+    mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
+    mock_req_socket.connect = MagicMock()
+    mock_req_socket.send = AsyncMock()
+    response_data = {"tags": ["wave", "nod", "point", "dance"]}
+    mock_req_socket.recv = AsyncMock(return_value=json.dumps(response_data).encode())
+
+    mock_context = MagicMock()
+    mock_context.socket.return_value = mock_req_socket
+    monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
+
+    # Replace logger methods to avoid noisy logs in tests
+    monkeypatch.setattr(robot.logger, "debug", MagicMock())
+    monkeypatch.setattr(robot.logger, "error", MagicMock())
+
+    # Act
+    response = client.get("/commands/gesture/tags")
+
+    # Assert
+    assert response.status_code == 200
+    assert response.json() == {"available_gesture_tags": ["wave", "nod", "point", "dance"]}
+
+    # Verify ZeroMQ REQ interactions
+    mock_req_socket.connect.assert_called_once_with("tcp://localhost:7788")
+    mock_req_socket.send.assert_awaited_once_with(b"None")
+    mock_req_socket.recv.assert_awaited_once()
+
+
+@pytest.mark.asyncio
+async def test_get_available_gesture_tags_with_amount(client, monkeypatch):
+    """
+    The endpoint currently ignores the 'amount' TODO, so behavior is the same as 'success'.
+    This test asserts that the endpoint still sends b"None" and returns the tags.
+    """
+    # Arrange
+    mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
+    mock_req_socket.connect = MagicMock()
+    mock_req_socket.send = AsyncMock()
+    response_data = {"tags": ["wave", "nod"]}
+    mock_req_socket.recv = AsyncMock(return_value=json.dumps(response_data).encode())
+
+    mock_context = MagicMock()
+    mock_context.socket.return_value = mock_req_socket
+    monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
+
+    monkeypatch.setattr(robot.logger, "debug", MagicMock())
+    monkeypatch.setattr(robot.logger, "error", MagicMock())
+
+    # Act
+    response = client.get("/commands/gesture/tags")
+
+    # Assert
+    assert response.status_code == 200
+    assert response.json() == {"available_gesture_tags": ["wave", "nod"]}
+
+    mock_req_socket.connect.assert_called_once_with("tcp://localhost:7788")
+    mock_req_socket.send.assert_awaited_once_with(b"None")
+
+
+@pytest.mark.asyncio
+async def test_get_available_gesture_tags_timeout(client, monkeypatch):
+    """
+    Test timeout scenario when fetching gesture tags. Endpoint should handle TimeoutError
+    and return an empty list while logging the timeout.
+    """
+    # Arrange
+    mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
+    mock_req_socket.connect = MagicMock()
+    mock_req_socket.send = AsyncMock()
+    mock_req_socket.recv = AsyncMock(side_effect=TimeoutError)
+
+    mock_context = MagicMock()
+    mock_context.socket.return_value = mock_req_socket
+    monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
+
+    # Patch logger.debug so we can assert it was called with the expected message
+    mock_debug = MagicMock()
+    monkeypatch.setattr(robot.logger, "debug", mock_debug)
+    monkeypatch.setattr(robot.logger, "error", MagicMock())
+
+    # Act
+    response = client.get("/commands/gesture/tags")
+
+    # Assert
+    assert response.status_code == 200
+    assert response.json() == {"available_gesture_tags": []}
+
+    # Verify the timeout was logged using the exact string from the endpoint code
+    mock_debug.assert_called_once_with("Got timeout error fetching gestures.")
+
+    mock_req_socket.connect.assert_called_once_with("tcp://localhost:7788")
+    mock_req_socket.send.assert_awaited_once_with(b"None")
+    mock_req_socket.recv.assert_awaited_once()
+
+
+@pytest.mark.asyncio
+async def test_get_available_gesture_tags_empty_response(client, monkeypatch):
+    """
+    Test scenario when response contains an empty 'tags' list.
+    """
+    # Arrange
+    mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
+    mock_req_socket.connect = MagicMock()
+    mock_req_socket.send = AsyncMock()
+    response_data = {"tags": []}
+    mock_req_socket.recv = AsyncMock(return_value=json.dumps(response_data).encode())
+
+    mock_context = MagicMock()
+    mock_context.socket.return_value = mock_req_socket
+    monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
+
+    monkeypatch.setattr(robot.logger, "debug", MagicMock())
+    monkeypatch.setattr(robot.logger, "error", MagicMock())
+
+    # Act
+    response = client.get("/commands/gesture/tags")
+
+    # Assert
+    assert response.status_code == 200
+    assert response.json() == {"available_gesture_tags": []}
+
+
+@pytest.mark.asyncio
+async def test_get_available_gesture_tags_missing_tags_key(client, monkeypatch):
+    """
+    Test scenario when response JSON doesn't contain 'tags' key.
+    """
+    # Arrange
+    mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
+    mock_req_socket.connect = MagicMock()
+    mock_req_socket.send = AsyncMock()
+    response_data = {"some_other_key": "value"}
+    mock_req_socket.recv = AsyncMock(return_value=json.dumps(response_data).encode())
+
+    mock_context = MagicMock()
+    mock_context.socket.return_value = mock_req_socket
+    monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
+
+    monkeypatch.setattr(robot.logger, "debug", MagicMock())
+    monkeypatch.setattr(robot.logger, "error", MagicMock())
+
+    # Act
+    response = client.get("/commands/gesture/tags")
+
+    # Assert
+    assert response.status_code == 200
+    assert response.json() == {"available_gesture_tags": []}
+
+
+@pytest.mark.asyncio
+async def test_get_available_gesture_tags_invalid_json(client, monkeypatch):
+    """
+    Test scenario when response contains invalid JSON. Endpoint should log the error
+    and return an empty list.
+    """
+    # Arrange
+    mock_req_socket = AsyncMock(spec=zmq.asyncio.Socket)
+    mock_req_socket.connect = MagicMock()
+    mock_req_socket.send = AsyncMock()
+    mock_req_socket.recv = AsyncMock(return_value=b"invalid json")
+
+    mock_context = MagicMock()
+    mock_context.socket.return_value = mock_req_socket
+    monkeypatch.setattr(robot.Context, "instance", lambda: mock_context)
+
+    mock_error = MagicMock()
+    monkeypatch.setattr(robot.logger, "error", mock_error)
+    monkeypatch.setattr(robot.logger, "debug", MagicMock())
+
+    # Act
+    response = client.get("/commands/gesture/tags")
+
+    # Assert - invalid JSON should lead to empty list and error log invocation
+    assert response.status_code == 200
+    assert response.json() == {"available_gesture_tags": []}
+    assert mock_error.call_count == 1

test/unit/schemas/test_ri_message.py

@@ -1,26 +1,88 @@
 import pytest
 from pydantic import ValidationError
 
-from control_backend.schemas.ri_message import RIEndpoint, RIMessage, SpeechCommand
+from control_backend.schemas.ri_message import GestureCommand, RIEndpoint, RIMessage, SpeechCommand
 
 
 def valid_command_1():
     return SpeechCommand(data="Hallo?")
 
 
+def valid_command_2():
+    return GestureCommand(endpoint=RIEndpoint.GESTURE_TAG, data="happy")
+
+
+def valid_command_3():
+    return GestureCommand(endpoint=RIEndpoint.GESTURE_SINGLE, data="happy_1")
+
+
 def invalid_command_1():
     return RIMessage(endpoint=RIEndpoint.PING, data="Hello again.")
 
 
+def invalid_command_2():
+    return RIMessage(endpoint=RIEndpoint.PING, data="Hey!")
+
+
+def invalid_command_3():
+    return RIMessage(endpoint=RIEndpoint.GESTURE_SINGLE, data={1, 2, 3})
+
+
+def invalid_command_4():
+    test: RIMessage = GestureCommand(endpoint=RIEndpoint.GESTURE_SINGLE, data="asdsad")
+
+    def change_endpoint(msg: RIMessage):
+        msg.endpoint = RIEndpoint.PING
+
+    change_endpoint(test)
+    return test
+
+
 def test_valid_speech_command_1():
     command = valid_command_1()
     RIMessage.model_validate(command)
     SpeechCommand.model_validate(command)
 
 
+def test_valid_gesture_command_1():
+    command = valid_command_2()
+    RIMessage.model_validate(command)
+    GestureCommand.model_validate(command)
+
+
+def test_valid_gesture_command_2():
+    command = valid_command_3()
+    RIMessage.model_validate(command)
+    GestureCommand.model_validate(command)
+
+
 def test_invalid_speech_command_1():
     command = invalid_command_1()
     RIMessage.model_validate(command)
 
     with pytest.raises(ValidationError):
         SpeechCommand.model_validate(command)
+
+
+def test_invalid_gesture_command_1():
+    command = invalid_command_2()
+    RIMessage.model_validate(command)
+
+    with pytest.raises(ValidationError):
+        GestureCommand.model_validate(command)
+
+
+def test_invalid_gesture_command_2():
+    command = invalid_command_3()
+    RIMessage.model_validate(command)
+
+    with pytest.raises(ValidationError):
+        GestureCommand.model_validate(command)
+
+
+def test_invalid_gesture_command_3():
+    command = invalid_command_4()
+    RIMessage.model_validate(command)
+
+    with pytest.raises(ValidationError):
+        GestureCommand.model_validate(command)

test/unit/test_main.py

@@ -53,8 +53,6 @@ async def test_lifespan_agent_start_exception():
     Ensures exceptions are logged properly and re-raised.
     """
     with (
-        patch("control_backend.main.VADAgent.start", new_callable=AsyncMock),
-        patch("control_backend.main.VADAgent.reset_stream", new_callable=AsyncMock),
         patch(
             "control_backend.main.RICommunicationAgent.start", new_callable=AsyncMock
         ) as ri_start,